You may live in your RV full time in Pennsylvania as long as you either own the property yourself or have the permission of the property owner to do so. Domicile can be tricky - luckily, we have experienced attorneys!Pennsylvania Domicile for full time RVers. Most people recommend Texas, Florida, or South Dakota as an RV domicile to minimize taxes. In short, you have one, and only one domicile; however, you may have many residences—in theory you could have a residence on every street, everywhere. Has anyone successfully used PA as their state of residency without owning or renting a property? The first thing you will need to do in order to establish RV permanent residence in any state is acquire an address in the state. Domicile is generally defined as the place to which you intend to permanently return, even after temporary absences. Beautifully renovated.